Handle 'best_available' QoS policies in common #85
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jacobperron merged 7 commits intomasterfrom May 3, 2022
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Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
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I've added 7480115 following up the conversation in #84 (comment). That triggered some failures in the system test https://github.com/ros2/system_tests/pull/501/files <testcase name="test_best_available_policies_subscription" status="run" result="completed" time="0.313" timestamp="2022-04-28T16:52:18" classname="test_quality_of_service.QosRclcppTestFixture__rmw_connextdds">
<failure message="/home/jrivero/code/ros2/ws_qos_adaptative/src/ros2/system_tests/test_quality_of_service/test/test_best_available.cpp:76
Expected equality of these values:
 actual_qos.reliability()
 Which is: 4-b
Expected equality of these values:
actual_qos.reliability()
Which is: 4-byte object <01-00 00-00>
publisher_qos_profile.reliability()
Which is: 4-byte object <02-00 00-00>]]></failure>
<failure message="/home/jrivero/code/ros2/ws_qos_adaptative/src/ros2/system_tests/test_quality_of_service/test/test_best_available.cpp:78
Expected equality of these values:
 actual_qos.deadline()
 Which is: 16-byt
Expected equality of these values:
actual_qos.deadline()
Which is: 16-byte object <F8-34 5A-26 37-7F 00-00 FF-FF FF-FF FF-FF FF-7F>
publisher_qos_profile.deadline()
Which is: 16-byte object <F8-34 5A-26 37-7F 00-00 80-84 1E-00 00-00 00-00>]]></failure>
<failure message="/home/jrivero/code/ros2/ws_qos_adaptative/src/ros2/system_tests/test_quality_of_service/test/test_best_available.cpp:80
Expected equality of these values:
 actual_qos.liveliness_lease_duration()

Expected equality of these values:
actual_qos.liveliness_lease_duration()
Which is: 16-byte object <F8-34 5A-26 37-7F 00-00 FF-FF FF-FF FF-FF FF-7F>
publisher_qos_profile.liveliness_lease_duration()
Which is: 16-byte object <F8-34 5A-26 37-7F 00-00 C0-C6 2D-00 00-00 00-00>]]></failure>
</testcase> Am I missing a change in this PR or the changes are wrong? |
jacobperron
reviewed
Apr 28, 2022
jacobperron
reviewed
Apr 28, 2022
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
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One more final change to make |
jacobperron
reviewed
Apr 30, 2022
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
jacobperron
approved these changes
May 2, 2022
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Alternative to #84 after feedback received there.
I did not find problems on building or testing using this new approach. The PR looks cleaner.